End effector including wrist assembly and electrosurgical tool for robotic surgical systems

ABSTRACT

An end effector is provided for use and connection to a robot arm of a robotic surgical system including a proximal hub, a distal hub, and a support hub. The distal hub is coupled to two opposing upright supports of the proximal hub about a first pivot axis. The support hub is coupled to two opposing upright supports of the distal hub about a second pivot axis. First and second drive members are coupled to opposing sides of the support hub and a third drive member is coupled to the distal hub. Simultaneous proximal translation of the first drive member and the second drive member causes the distal hub to pivot about the first pivot axis and proximal translation of only one of the first drive member or the second drive member causes the support hub to pivot about the second pivot axis.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is a continuation application of U.S. application Ser.No. 16/636,247, filed on Feb. 3, 2020, which is a National StageApplication of PCT Application Serial No. PCT/US2018/046619 under 35 U.S.C. § 371 (a), filed on Aug. 14, 2018, which claims the benefit of andpriority to U.S. Provisional Patent Application Serial No. 62/546,066,filed on Aug. 16, 2017, the disclosures of each of the above-identifiedapplications are hereby incorporated by reference in their entirety.

BACKGROUND

Robotic surgical systems have been used in minimally invasive medicalprocedures. Some robotic surgical systems include a console supporting asurgical robotic arm and a surgical instrument, having at least one endeffector (e.g., forceps or a grasping tool), mounted to the robotic arm.The robotic arm provides mechanical power to the surgical instrument forits operation and movement. Each robotic arm may include an instrumentdrive unit that is operatively connected to the surgical instrument.

Cables extended from the robot console, through the robot arm, andconnected to the wrist assembly and/or end effector. In some instances,the cables were actuated by means of motors that were controlled by aprocessing system including a user interface for a surgeon or clinicianto be able to control the robotic surgical system including the robotarm, the wrist assembly and/or the end effector.

In some instances, the wrist assembly provided for articulation of theend effector through the use of four cables coupled to differentcomponents of the end effector or two cables used in combination with apulley system coupled to components of the end effector. Each cablewould be controlled by at least one motor. In such configurations, spacewithin the components of the end effector was consumed by cables andspace within the robotic arm was consumed by motors. Even morespace-consuming were electrical cables traveling from the robotic arm toportions of the end effector.

As demand for smaller surgical tools with greater maneuverability andgreater surgical capabilities increases, a need exists for end effectorsthat can be used with powered electrosurgical instruments. Additionally,a need exists for end effectors with articulation mechanisms thatrequire fewer cables, motors, and components, thereby minimizing thecross sectional area of these tools, costs of the final products, costof assembly, and the like.

SUMMARY

In accordance with an aspect of the present disclosure, an end effectorfor use with a robotic surgical system is provided. The end effectorincludes a proximal hub, a distal hub, and a support hub. The distal hubis coupled to two opposing upright supports of the proximal hub about afirst pivot axis. The support hub is coupled to two opposing uprightsupports of the distal hub about a second pivot axis transverse to thefirst pivot axis. First and second drive members are coupled to opposingsides of the support hub and a third drive member is coupled to thedistal hub.

In one aspect of the present disclosure, simultaneous proximaltranslation of the first drive member and the second drive member causesthe distal hub to pivot about the first pivot axis. In some embodiments,proximal translation of only one of the first drive member or the seconddrive member causes the support hub to pivot about the second pivotaxis.

Additionally, simultaneous proximal translation of the first drivemember and the second drive member causes the distal hub to pivot aboutthe first pivot axis in a first direction and proximal translation ofthe third drive member causes the distal hub to pivot about the firstpivot axis in a second direction opposite the first direction.Additionally, proximal translation of the first drive member and distaltranslation of the second drive member may cause the support hub topivot about the second pivot axis in a first direction and distaltranslation of the first drive member and proximal translation of thesecond drive member may cause the support hub to pivot about the secondpivot axis in a second direction opposite the first direction.

The support hub may be configured to receive a monopolar tool. Forexample, the support hub may have an opening for receiving a monopolartool therein. Additionally, the end effector may include a monopolartool. The monopolar tool may be configured to couple to anelectrosurgical generator via a power cable.

The end effector may further include a pulley system. The pulley systemmay include a first pulley, a second pulley, a third pulley, and afourth pulley. Each of the first pulley, second pulley, third pulley,and fourth pulley can be operably coupled to the proximal hub via aproximal pulley pin and rotatable along the first pivot axis. The firstdrive member may wrap around at least a portion of the first pulley, thesecond drive member may wrap around at least a portion of the secondpulley, the third drive member may wrap around at least a portion of thethird pulley, and the power cable may wrap around at least a portion ofthe fourth pulley.

Additionally, or alternatively, the pulley system of the end effectormay also include a fifth pulley, a sixth pulley, and a seventh pulley.Each of the fifth pulley, the sixth pulley, and the seventh pulley maybe operably coupled to the proximal hub via a distal pulley pin. Thefirst drive member may wrap around at least a portion of the fifthpulley, the second drive member may wrap around at least a portion ofthe sixth pulley, and the power cable may wrap around at least a portionof the seventh pulley.

According to another aspect of the present disclosure, anelectromechanical surgical instrument for use with a robotic surgicalsystem is provided. The electromechanical surgical instrument mayinclude a drive assembly on its proximal portion and an end effector onits distal portion. The drive assembly may include a first drive screwhaving a first threaded shaft portion and a first nut threadinglycoupled thereto, a second drive screw having a second threaded shaftportion and a second nut threadingly coupled thereto, and a third drivescrew having a third threaded shaft portion and a third nut threadinglycoupled thereto. Each of the first, second, and third drive screws maycouple to a respective motor for rotating the respective drive screw.The end effector may include a proximal hub, a distal hub, and a supporthub. The distal hub is coupled to two opposing upright supports of theproximal hub about a first pivot axis. The support hub is coupled to twoopposing upright supports of the distal hub about a second pivot axistransverse to the first pivot axis.

The electromechanical surgical instrument may further include a firstdrive member, a second drive member, and a third drive member couplingportions of the end effector to portions of the drive assembly. In oneaspect of the present disclosure, a proximal portion of the first drivemember is coupled to the first drive nut and a distal portion of thefirst drive member is coupled to the support hub. Additionally, aproximal portion of the second drive member is coupled to the seconddrive nut and a distal portion of the second drive member is coupled tothe support hub. Additionally, a proximal portion of the third drivemember is coupled to the third drive nut and a distal portion of thethird drive member is coupled to the distal hub.

Simultaneous proximal translation of the first drive member and thesecond drive member may cause the distal hub to pivot about the firstpivot axis. In some embodiments, proximal translation of only one of thefirst drive member or the second drive member causes the support hub topivot about the second pivot axis.

In one aspect of the present disclosure, simultaneous proximaltranslation of the first drive member and the second drive member causesthe distal hub to pivot about the first pivot axis in a first directionand proximal translation of the third drive member causes the distal hubto pivot about the first pivot axis in a second direction opposite thefirst direction. Additionally, proximal translation of the first drivemember and distal translation of the second drive member may cause thesupport hub to pivot about the second pivot axis in a first directionand distal translation of the first drive member and proximaltranslation of the second drive member may cause the support hub topivot about the second pivot axis in a second direction opposite thefirst direction.

The support hub may be configured to receive a monopolar tool. Forexample, the support hub may have an opening for receiving a monopolartool therein. Additionally, the end effector may include a monopolartool. The monopolar tool may be configured to couple to anelectrosurgical generator via a power cable.

The end effector may further include a pulley system. The pulley systemmay include a first pulley, a second pulley, a third pulley, and afourth pulley. Each of the first pulley, second pulley, third pulley,and fourth pulley can be operably coupled to the proximal hub via aproximal pulley pin and rotatable along the first pivot axis. The firstdrive member may wrap around at least a portion of the first pulley, thesecond drive member may wrap around at least a portion of the secondpulley, the third drive member may wrap around at least a portion of thethird pulley, and the power cable may wrap around at least a portion ofthe fourth pulley.

Additionally, or alternatively, the pulley system of the end effectormay also include a fifth pulley, a sixth pulley, and a seventh pulley.Each of the fifth pulley, the sixth pulley, and the seventh pulley maybe operably coupled to the proximal hub via a distal pulley pin. Thefirst drive member may wrap around at least a portion of the fifthpulley, the second drive member may wrap around at least a portion ofthe sixth pulley, and the power cable may wrap around at least a portionof the seventh pulley.

According to another aspect of the present disclosure, a roboticelectrosurgical system is provided and includes an electrosurgicalgenerator and an electromechanical surgical instrument having amonopolar tool configured to electrically couple to the electrosurgicalgenerator.

The electromechanical surgical instrument of the robotic surgical systemmay include a drive assembly on its proximal portion and an end effectoron its distal portion. The drive assembly may include a first drivescrew having a first threaded shaft portion and a first nut threadinglycoupled thereto, a second drive screw having a second threaded shaftportion and a second nut threadingly coupled thereto, and a third drivescrew having a third threaded shaft portion and a third nut threadinglycoupled thereto. Each of the first, second, and third drive screws maycouple to a respective motor for rotating the respective drive screw.The end effector may include a proximal hub, a distal hub, and a supporthub. The distal hub is coupled to two opposing upright supports of theproximal hub about a first pivot axis. The support hub is coupled to twoopposing upright supports of the distal hub about a second pivot axistransverse to the first pivot axis.

The electromechanical surgical instrument may further include a firstdrive member, a second drive member, and a third drive member couplingportions of the end effector to portions of the drive assembly. In oneaspect of the present disclosure, a proximal portion of the first drivemember is coupled to the first drive nut and a distal portion of thefirst drive member is coupled to the support hub. Additionally, aproximal portion of the second drive member is coupled to the seconddrive nut and a distal portion of the second drive member is coupled tothe support hub. Additionally, a proximal portion of the third drivemember is coupled to the third drive nut and a distal portion of thethird drive member is coupled to the distal hub.

The robotic electrosurgical system may further include motors and acontrol device configured to control articulation of the end effector orportions thereof. For example, the control device may control respectivemotors coupled to respective drive members. The control device may beconfigured to coordinate control of a first motor with control of asecond motor by actuating the first motor in a first direction whenactuating the second motor in a second direction opposite the firstdirection. Additionally, the control device may configured to coordinatecontrol of the first motor and the second motor with control of a thirdmotor by actuating the first motor and the second motor in a firstdirection when actuating the third motor in a second direction oppositethe first direction.

The control device may be configured to cause simultaneous proximaltranslation of the first drive member and the second drive member whichcauses the distal hub to pivot about the first pivot axis. In someembodiments, proximal translation of only one of the first drive memberor the second drive member causes the support hub to pivot about thesecond pivot axis.

Additionally, the control device may be configured to cause simultaneousproximal translation of the first drive member and the second drivemember which causes the distal hub to pivot about the first pivot axisin a first direction and to cause proximal translation of the thirddrive member which causes the distal hub to pivot about the first pivotaxis in a second direction opposite the first direction. Additionally,proximal translation of the first drive member and distal translation ofthe second drive member may cause the support hub to pivot about thesecond pivot axis in a first direction and distal translation of thefirst drive member and proximal translation of the second drive membermay cause the support hub to pivot about the second pivot axis in asecond direction opposite the first direction.

The support hub may have an opening for receiving the monopolar tooltherein. The monopolar tool may be configured to couple to theelectrosurgical generator via a power cable.

The end effector may further include a pulley system. The pulley systemmay include a first pulley, a second pulley, a third pulley, and afourth pulley. Each of the first pulley, second pulley, third pulley,and fourth pulley can be operably coupled to the proximal hub via aproximal pulley pin and rotatable along the first pivot axis. The firstdrive member may wrap around at least a portion of the first pulley, thesecond drive member may wrap around at least a portion of the secondpulley, the third drive member may wrap around at least a portion of thethird pulley, and the power cable may wrap around at least a portion ofthe fourth pulley.

Additionally, or alternatively, the pulley system of the end effectormay also include a fifth pulley, a sixth pulley, and a seventh pulley.Each of the fifth pulley, the sixth pulley, and the seventh pulley maybe operably coupled to the proximal hub via a distal pulley pin. Thefirst drive member may wrap around at least a portion of the fifthpulley, the second drive member may wrap around at least a portion ofthe sixth pulley, and the power cable may wrap around at least a portionof the seventh pulley.

BRIEF DESCRIPTION OF THE DRAWINGS

Embodiments of the present disclosure are described herein withreference to the accompanying drawings, wherein:

FIG. 1 is a schematic illustration of a robotic surgical systemincluding a robotic surgical assembly in accordance with the presentdisclosure;

FIG. 2A is a perspective view of the robotic surgical assembly and theelectromechanical surgical instrument, in accordance with an embodimentof the present disclosure;

FIG. 2B is a perspective view, with parts separated, of the roboticsurgical assembly and the electromechanical surgical instrument shown inFIG. 2A;

FIG. 3 is a rear perspective view of the electromechanical surgicalinstrument for use with the robotic surgical assembly of FIGS. 2A and2B;

FIG. 4 is a perspective view of drive assemblies of theelectromechanical surgical instrument of FIG. 3;

FIG. 5 is a cross-sectional view, as taken through 5-5 of FIG. 3;

FIG. 6 is a top, perspective view of an end effector including amonopolar tool, according to an embodiment of the present disclosure,for use in the robotic surgical system of FIG. 1;

FIG. 7 is a side, perspective view of the end effector of FIG. 6;

FIG. 8 is another side, perspective view of the end effector of FIG. 6;

FIG. 9 is another side, perspective view of the end effector of FIG. 6,with parts removed;

FIG. 10 is a bottom, perspective view of the end effector of FIG. 6,with parts removed;

FIG. 11 is a perspective view, with parts separated, of the end effectorof FIG. 6;

FIG. 12 is a perspective view of a support hub of the end effector ofFIG. 6;

FIG. 13 is a perspective view of a distal hub and pulley system of theend effector of FIG. 6;

FIG. 14 is a perspective view of the distal hub of the end effector ofFIG. 6;

FIG. 15 is another perspective view of the distal hub of the endeffector of FIG. 6;

FIG. 16 is a further perspective view of the distal hub of the endeffector of FIG. 6;

FIG. 17 is a side, perspective view of the end effector of FIG. 6, withparts removed, and illustrating a pulley system thereof;

FIG. 18 is a side, perspective view of the end effector of FIG. 6, withparts removed, and illustrating the pulley system thereof;

FIG. 19 is a rear, perspective view of the end effector of FIG. 6, withparts removed, illustrating the pulley system thereof and illustrating awrist assembly thereof in an articulated condition;

FIG. 20 is a rear, perspective view of the end effector of FIG. 6, withparts removed, illustrating the pulley system thereof and illustratingthe wrist assembly thereof in an articulated condition;

FIG. 21 is a side, perspective view of the end effector of FIG. 6, withparts removed, illustrating the wrist assembly thereof in anotherarticulated condition;

FIG. 22 is a side, perspective view of the end effector of FIG. 6, withparts removed, illustrating the pulley system thereof and illustratingthe wrist assembly thereof in a further articulated condition; and

FIG. 23 is a side, perspective view of the end effector of FIG. 6, withparts removed, illustrating the pulley system thereof and illustratingthe wrist assembly thereof in a further articulated condition.

DETAILED DESCRIPTION

Embodiments of the presently disclosed surgical assembly including aninstrument drive unit for driving the operation of an electromechanicalsurgical instrument and methods thereof are described in detail withreference to the drawings, in which like reference numerals designateidentical or corresponding elements in each of the several views. Asused herein, the term “distal” refers to that portion of the roboticsurgical system, surgical assembly, or component thereof, that is closerto a patient, while the term “proximal” refers to that portion of therobotic surgical system, surgical assembly, or component thereof, thatis further from the patient. As used herein, the terms parallel andperpendicular are understood to include relative configurations that aresubstantially parallel and substantially perpendicular up to about +or —10 degrees from true parallel and true perpendicular.

As used herein, the term “clinician” refers to a doctor, nurse, or othercare provider and may include support personnel. In the followingdescription, well-known functions or construction are not described indetail to avoid obscuring the present disclosure in unnecessary detail.

As will be described in detail below, provided is a surgical assemblyconfigured to be attached to a surgical robotic arm. The surgicalassembly includes an instrument drive unit having, for example, but notlimited to, a motor configured to rotate an electromechanical instrumentabout a longitudinal axis thereof. In some embodiments, the motor may bea hollow core motor. Additionally, provided is a feedback assemblyconfigured to determine and regulate the degree of rotation of theelectromechanical instrument about its longitudinal axis. The rotationof the electromechanical instrument may be achieved with a hollow coremotor, a canister motor (brushless or brushed), via a transmission(gear, belt and/or cable); via pneumatics, and/or via hydraulics. Theaxis of rotation of the electromechanical instrument may be integral tothe instrument drive unit or to the robotic arm.

Referring initially to FIG. 1, a surgical system, such as, for example,a robotic surgical system 1, generally includes one or more surgicalrobotic arms 2, 3, a control device 4, and an operating console 5coupled with control device 4. Any of the surgical robotic arms 2, 3 mayhave a robotic surgical assembly 100 and an electromechanical surgicalinstrument 200 coupled thereto. The electromechanical surgicalinstrument 200 includes an end effector 1000 disposed at a distalportion thereof. In some embodiments, the robotic surgical assembly 100may be removably attached to a slide rail 40 of one of the surgicalrobotic arms 2, 3. In certain embodiments, the robotic surgical assembly100 may be fixedly attached to the slide rail 40 of one of the surgicalrobotic arms 2, 3.

Operating console 5 includes a display device 6, which is set up todisplay three-dimensional images; and manual input devices 7, 8, bymeans of which a clinician (not shown), is able to telemanipulate therobotic arms 2, 3 in a first operating mode, as known in principle to aperson skilled in the art. Each of the robotic arms 2, 3 may be composedof any number of members, which may be connected through joints. Therobotic arms 2, 3 may be driven by electric drives (not shown) that areconnected to control device 4. The control device 4 (e.g., a computer)is set up to activate the drives, for example, by means of a computerprogram, in such a way that the robotic arms 2, 3, the attached roboticsurgical assembly 100, and thus the electromechanical surgicalinstrument 200 (including the end effector 1000) execute a desiredmovement according to a movement defined by means of the manual inputdevices 7, 8. The control device 4 may also be set up in such a way thatit regulates the movement of the robotic arms 2, 3 and/or of the drives.

The robotic surgical system 1 is configured for use on a patient “P”positioned (e.g., lying) on a surgical table “ST” to be treated in aminimally invasive manner by means of a surgical instrument, e.g., theelectromechanical surgical instrument 200 and more specifically the endeffector 1000 of the electromechanical surgical instrument 200. Therobotic surgical system 1 may also include more than two robotic arms 2,3, the additional robotic arms likewise connected to the control device4 and telemanipulatable by means of the operating console 5. A surgicalinstrument, for example, the electromechanical surgical instrument 200(including the end effector 1000 thereof), may also be attached to anyadditional robotic arm(s).

The control device 4 may control one or more motors, e.g., motors (notshown), each motor configured to drive movement of the robotic arms 2, 3in any number of directions. Further, the control device 4 may controlan instrument drive unit 110 including motors 52 a, 52 b, and 52 c of amotor pack 50 disposed within a sterile barrier housing 130 of therobotic surgical assembly 100. The motors 52 a, 52 b, and 52 c of themotor pack 50 drive various operations of the end effector 1000 of theelectromechanical surgical instrument 200. The motors 52 a, 52 b, and 52c may include a rotation motor, such as, for example, a canister motor.One or more of the motors 52 a, 52 b, and 52 c (or a different motor,not shown) may be configured to drive a relative rotation of theelectromechanical surgical instrument 200, or components thereof, alonga longitudinal axis thereof. In some embodiments, each motor 52 a, 52 b,and 52 c of motor pack 50 can be configured to actuate (e.g., rotate)respective drive screws 340 a, 340 b, 340 c (FIG. 4) (or, for example, alinear drive, a capstan, etc.) which is operatively connected to a driverod or a lever arm to effect operation and/or movement of theelectromechanical end effector 1000 of the electromechanical surgicalinstrument 200.

With continued reference to FIG. 1, the robotic surgical system 1includes the robotic surgical assembly 100 that is coupled with or tothe robotic arm 2 or 3, and the electromechanical surgical instrument200 that is coupled to the robotic surgical assembly 100. The roboticsurgical assembly 100 transfers power and actuation forces from itsmotors to driven members of the electromechanical surgical instrument200 to ultimately drive movement of components of the end effector 1000of electromechanical surgical instrument 200, for example, anarticulation/rotation/pitch/yaw of the end effector 1000. The roboticsurgical assembly 100 may also be configured for the activation orfiring of an electrosurgical energy-based instrument or the like (e.g.,cable drives, pulleys, friction wheels, rack and pinion arrangements,etc.).

As described above, instrument drive unit 110 of robotic surgicalassembly 100 includes motor pack 50 and sterile barrier housing 130.Motor pack 50 includes motors 52 a, 52 b, 52 c for controlling variousoperations of end effector 1000 of electromechanical surgical instrument200. Electromechanical surgical instrument 200 is removably coupleableto instrument drive unit 110 and instrument drive unit 110 is removablycoupleable or fixedly coupled to slide rail 40 (FIG. 1) of one of thesurgical robotic arms 2, 3.

As described in greater detail below, in use, as the motors 52 a, 52 b,52 c of the motor pack 50 are actuated, rotation of the drive shafts 54a, 54 b, 54 c of the motors 52 a, 52 b, 52 c, respectively, istransferred to the respective proximal couplers 310 a, 310 b, 310 c ofthe drive assemblies 300 a, 300 b, 300 c (FIG. 3) of theelectromechanical surgical instrument 200.

Turning now to FIGS. 3-5, a proximal portion of the electromechanicalsurgical instrument 200 is shown and will be described. Theelectromechanical surgical instrument 200 may have a surgical instrumentor end effector 1000 (FIGS. 6-23) secured to or securable to a distalend thereof. The electromechanical surgical instrument 200 is configuredto transfer rotational forces/movement supplied by the robotic surgicalassembly 100 (e.g., via the motors 52 a, 52 b, 52 c of the motor pack50) into longitudinal movement or translation of the drive members 380a, 380 b, 380 c to effect various functions of the end effector 1000.

The electromechanical surgical instrument 200 includes a housingassembly 210 including a housing 212 defining at least one cavity orbore 212 a, 212 b, 212 c, 212 d therein which is configured to receive arespective drive assembly 300 a, 300 b, 300 c and a power cable 118therein. In accordance with the present disclosure, each bore 212 a, 212b, 212 c of the housing 212 is configured to operatively support arespective drive assembly 300 a, 300 b, and 300 c therein and the bore212 d is configured to operatively support a power cable 118 therein.

As illustrated in FIGS. 3-5, each bore 212 a, 212 b, 212 c of thehousing 212 defines a respective longitudinally extending groove orchannel 213 a, 213 b, 213 c therein. Each channel 213 a, 213 b, 213 c isconfigured to slidingly accept a rail or tab 353 a, 353 b, 353 cextending radially from a respective drive nut 350 a, 350 b, 350 c of arespective drive assembly 300 a, 300 b, 300 c, as will be described ingreater detail below.

When the electromechanical surgical instrument 200 is fully connected tothe robotic surgical assembly 100, the proximal couplers 310 a, 310 b,310 c of the drive assemblies 300 a, 300 b, 300 c of theelectromechanical surgical instrument 200 come into registration withand are connected to respective drive shafts 54 a, 54 b, 54 c within theinstrument drive unit 110 (FIGS. 2A and 2B) to couple the respectivedrive assemblies 300 a, 300 b, 300 b to respective motors 52 a, 52 b, 52c of the robotic surgical assembly 100.

The housing 212 of the housing assembly 210 of the electromechanicalsurgical instrument 200 supports an electrical connector 220 (FIG. 3)configured for selective connection to the plug 140 of the instrumentdrive unit 110 (FIGS. 2A and 2B) of the robotic surgical assembly 100.The electromechanical surgical instrument 200 may include electronics,including, and not limited to, a memory (for storing identificationinformation, usage information, and the like), wired or wirelesscommunication circuitry (for receiving and transmitting data orinformation from/to the electromechanical surgical instrument 200,from/to control device 4, and/or from/to a remote central processingsystem). The robotic surgical assembly 100 may be configured to permitpassage or routing of a dedicated electrocautery cable (for example,cable 118) or the like for use and connection to an electrosurgicalbased electromechanical surgical instrument (e.g., for ablation,coagulation, sealing, etc.). The electrical connector 220 may includeand is not limited to conductive connectors, magnetic connectors,resistive connectors, capacitive connectors, Hall sensors, reed switchesor the like.

With continued reference to FIGS. 3-5, the housing assembly 210 of theelectromechanical surgical instrument 200 houses a plurality of driveassemblies, shown as drive assemblies 300 a, 300 b, 300 c. In theillustrated embodiment, the electromechanical surgical instrument 200includes three drive assemblies 300 a, 300 b, 300 c; however, theelectromechanical surgical instrument 200 may include more (e.g., four,five, or six) or fewer (e.g., two) drive assemblies without departingfrom the scope of the present disclosure.

Each drive assembly 300 a, 300 b, 300 c includes a respective proximalcoupler 310 a, 310 b, 310, proximal bearing 320 a, 320 b, 320 c, drivescrew 340 a, 340 b, 340 c, drive nut 350 a, 350 b, 350 c, biasingelement 370 a, 370 b, 370 c, and drive member (e.g., a drive rod ordrive cable) 380 a, 380 b, 380 c. The proximal coupler 310 a, 310 b, 310c of each drive assembly 300 a, 300 b, 300 c is configured to meshinglyengage with a respective drive couplers (not shown) coupled torespective motors of the robotic surgical assembly 100. In operation,rotation of the drive transfer shafts 54 a, 54 b, 54 c of the motors 52a, 52 b, 52 c results in corresponding rotation of respective proximalcoupler 310 a, 310 b, 310 c of respective drive assembly 300 a, 300 b,300 c.

The proximal coupler 310 a, 310 b, 310 c of each drive assembly 300 a,300 b, 300 c is keyed to or otherwise non-rotatably connected to aproximal end of a respective drive screw 340 a, 340 b, 340 c.Accordingly, rotation of the proximal coupler 310 a, 310 b, 310 cresults in a corresponding rotation of a respective drive screw 340 a,340 b, 340 c.

Each proximal bearing 320 a, 320 b, 320 c is disposed about a proximalportion of a respective drive screw 340 a, 340 b, 340 c adjacent aproximal end of the housing 212 of the housing assembly 210. A distalend or tip of each drive screw 340 a, 340 b, 340 c may be rotatablydisposed or supported in a respective recess 214 a, 214 b, 214 c definedin a distal end of the housing 212 (see FIG. 5).

Each of the drive screws 340 a, 340 b, 340 c includes a threaded body orshaft portion 341 a, 341 b, 341 c, and defines a longitudinal axis “L-L”extending through a radial center thereof (see FIG. 4). In use, rotationof the proximal coupler 310 a, 310 b, 310 c, as described above, resultsin rotation of a respective drive screw 340 a, 340 b, 340 c aboutlongitudinal axis “L-L”, in a corresponding direction and rate ofrotation.

Each of the drive nuts 350 a, 350 b, 350 c (or capstan) includes athreaded aperture 351 a, 351 b, 351 c extending longitudinallytherethrough, which is configured to mechanically engage the threadedshaft portion 341 a, 341 b, 341 c of a respective drive screw 340 a, 340b, 340 c. Each drive nut 350 a, 350 b, 350 c is configured to bepositioned on a respective drive screw 340 a, 340 b, 340 c in a mannersuch that rotation of the drive screw 340 a, 340 b, 340 c causeslongitudinal movement or translation of the respective drive nut 350 a,350 b, 350 c. Moreover, rotation of the proximal coupler 310 a, 310 b,310 c in a first direction (e.g., clockwise) causes the respective drivenut 350 a, 350 b, 350 c to move in a first longitudinal direction (e.g.,proximally) along the respective drive screw 340 a, 340 b, 340 c, androtation of the proximal coupler 310 a, 310 b, 310 c in a seconddirection (e.g., counter-clockwise) causes the respective drive nut 350a, 350 b, 350 c to move in a second longitudinal direction (e.g.,distally) with respect to the respective drive screw 340 a, 340 b, 340c.

Each drive nut 350 a, 350 b, 350 c includes a retention pocket formed inan engagement tab 352 a, 352 b, 352 c formed therein that is disposedadjacent the threaded aperture 351 a, 351 b, 351 c thereof. Eachretention pocket is configured to retain a proximal end 380 ap, 380 bp,380 cp of a respective drive member 380 a, 380 b, 380 c, as discussed infurther detail below.

Each drive nut 350 a, 350 c, 350 c includes a tab 353 a, 353 b, 353 cextending radially from and longitudinally along an outer surfacethereof. The tab 353 a, 353 b, 353 c of each drive nut 350 a, 350 b, 350c is configured to be slidably disposed in a respective longitudinallyextending channel 213 a, 213 b, 213 c formed in the bores 212 a, 212 b,212 c of the housing 212. The tab 353 a, 353 b, 353 c of each drive nut350 a, 350 b, 350 c cooperates with a respective channel 213 a, 213 b,213 c of the bore 212 a, 212 b, 212 c of the housing 212 to inhibit orprevent each drive nut 350 a, 350 b, 350 c from rotating aboutlongitudinal axis “L-L” as each drive screw 340 a, 340 b, 340 c isrotated.

Each drive nut 350 a, 350 b, 350 c includes an engagement portion 352 a,352 b, 352 c disposed adjacent a radially inward surface thereof, whichis configured to mechanically engage or retain a proximal portion 380ap, 380 bp, 380 cp of a respective drive member 380 a, 380 b, 380 c. Inoperation, as the drive nuts 350 a, 350 b, 350 c are axially displacedalong the drive screw 340 a, 340 b, 340 c, the drive nuts 350 a, 350 b,350 c transmit concomitant axial translation to the drive member 380 a,380 b, 380 c.

A biasing element 370 a, 370 b, 370 c, e.g., a compression spring, isconfigured to radially surround a respective distal portion of thethreaded shaft portion 341 a, 341 b, 341 c of each drive screw 340 a,340 b, 340 c. Each biasing element 370 a, 370 b, 370 c is interposedbetween a respective drive nut 350 a, 350 b, 350 c and a distal surfaceof the housing 212 of the housing assembly 210.

Each drive member 380 a, 380 b, 380 c extends distally from a respectivedrive nut 350 a, 350 b, 350 c, through a respective central bore orchannel 212 a, 212 b, 212 c of the housing 212 of the housing assembly210, and is configured to mechanically engage a portion of a surgicalinstrument, e.g., a portion or component of end effector 1000, of theelectromechanical surgical instrument 200 as will be described ingreater detail below with reference to FIGS. 6-23. Additionally, powercable 118 extends distally through central bore or channel 212 d of thehousing 212 of the housing assembly 210, and is configured toelectrically couple to a monopolar tool 150 of end effector 1000.

In operation, longitudinal translation of at least one drive member 380a, 380 b, 380 c is configured to drive a function of the end effector1000 of the electromechanical surgical instrument 200. For example, aproximal translation of drive member 380 c may be configured toarticulate the end effector 1000 or a portion of the end effector 1000in a first direction. It is envisioned that while drive member 380 c istranslated in a proximal direction, drive nuts 350 a and 350 b aretranslated in a distal direction to enable corresponding translation ofrespective drive members 380 a and 380 b in a distal direction, as willbe described in greater detail below. Additionally, for example, aproximal translation of drive members 380 a and 380 b of theelectromechanical surgical instrument 200 may be configured toarticulate the end effector 1000, or a portion of the end effector 1000in a second direction. It is envisioned that while drive members 380 aand 380 b are translated in a proximal direction, drive nut 350 c istranslated in a distal direction to enable corresponding translation ofdrive member 380 c in a distal direction, as will be described ingreater detail below.

In accordance with the present disclosure, a distal portion of at leastone of the drive members 380 a, 380 b, 380 c may include a flexibleportion, while a proximal portion of the drive members 380 a, 380 b, 380c are rigid, such that the flexible distal portion may follow aparticular path through the electromechanical surgical instrument 200.Accordingly, the biasing members 370 a, 370 b, 370 c may function tomaintain the drive members 380 a, 380 b, 380 c in tension to preventslack or to reduce the amount of slack in the flexible distal portion ofthe drive members 380 a, 380 b, 380 c.

During use of the electromechanical surgical instrument 200 (e.g., whenmotor 52 a, 52 b, 52 c of the robotic surgical assembly 100, or otherpowered drives, are used to rotate one or more of proximal couplers 310a, 310 b, 310 c), rotation of a proximal coupler 310 a, 310 b, 310 cresults in a corresponding rotation of the respective drive screw 340 a,340 b, 340 c. Rotation of the drive screw 340 a, 340 b, 340 c causeslongitudinal translation of the respective drive nut 350 a, 350 b, 350 cdue to the engagement between the threaded portion 341 a, 341 b, 341 cof the drive screw 340 a, 340 b, 340 c and the threaded aperture 351 a,351 b, 351 c of the drive nut 350 a, 350 b, 350 c. As discussed above,the direction of longitudinal translation of the drive nut 350 a, 350 b,350 c is determined by the direction of rotation of the proximal coupler310 a, 310 b, 310 c, and thus, the respective drive screw 340 a, 340 b,340 c. For example, clockwise rotation of the drive screw 340 a resultsin a corresponding proximal translation of drive member 380 a which isengaged with the drive screw 340 a, clockwise rotation of the drivescrew 340 b results in a corresponding proximal translation of drivemember 380 b which is engaged with the drive screw 340 b, and clockwiserotation of the drive screw 340 c results in a corresponding proximaltranslation of drive member 380 c which is engaged with the drive screw340 c. Additionally, for example, counterclockwise rotation of the drivescrew 340 a results in a corresponding distal translation of drivemember 380 a which is engaged with the drive screw 340 a,counterclockwise rotation of the drive screw 340 b results in acorresponding distal translation of drive member 380 b which is engagedwith the drive screw 340 b, and counterclockwise rotation of the drivescrew 340 c results in a corresponding distal translation of drivemember 380 c which is engaged with the drive screw 340 c.

Additionally, in one aspect, when one drive nut 350 a, 350 b, 350 c,from a first drive assembly 300 a, 300 b, 300 c, moves in a firstlongitudinal direction (e.g., proximally), it is envisioned that adifferent drive nut 350 a, 350 b, 350 c, from a different drive assembly300 a, 300 b, 300 c, is forced to correspondingly move in a second,opposite longitudinal direction (e.g., distally). Such a function may beaccomplished via the physical interaction between the individual driveassemblies 300 a, 300 b, 300 c amongst each other or via control of therespective motors 52 a, 52 b, and 52 c, as will be described in greaterdetail below. Such configurations function to, for example, compensatefor any slack in the drive members 380 a, 380 b, 380 c or to create aslack in drive members 380 a, 380 b, 380 c. It is contemplated and inaccordance with the present disclosure that each drive nut 350 a, 350 b,350 c may be independently driven.

As discussed above, each of the motors 52 a, 52 b, and 52 c may becontrolled in a corresponding manner to negate slack formation in any ofdrive members 380 a, 380 b, 380 c, when another one of drive members 380a, 380 b, or 380 c (e.g., an opposing drive member) is translated in anopposing direction. Additionally, each of the motors 52 a, 52 b, and 52c may be controlled in a corresponding manner to create slack in any ofdrive members 380 a, 380 b, 380 c, when another one of drive members 380a, 380 b, or 380 c (e.g., an opposing drive member) is translated in anopposing direction. Such corresponding control of the motors 52 a, 52 b,52 c ensures that the proximal translation of any of drive members 380a, 380 b, or 380 c is not hindered by the stationary position of anopposing drive member 380 a, 380 b, or 380 c. For example, when motor 52c is actuated to cause proximal translation of drive nut 350 c (therebytranslating drive member 380 c in a proximal direction), motors 52 a and52 b are coordinated with motor 52 c to actuate in an opposite directionto cause distal translation of respective drive nuts 350 a and 350 b(thereby enabling drive members 380 a and 380 b to be moved in a distaldirection when effectively pulled in a distal direction by the opposingforce of drive member 380 c). Additionally, for example, when motors 52a and 52 b are actuated to cause proximal translation of respectivedrive nuts 350 a and 350 b (thereby translating respective drive members380 a and 380 b in a proximal direction), motor 52 c is coordinated withmotors 52 a and 52 b to actuate in an opposite direction to cause distaltranslation of drive nut 350 c (thereby enabling drive member 380 c tobe moved in a distal direction when effectively pulled in a distaldirection by the opposing force of drive member 380 c). Additionally,for example, when motor 52 a is actuated to cause proximal translationof drive nut 350 a (thereby translating drive member 380 a in a proximaldirection), motor 52 b may be coordinated with motor 52 a to actuate inan opposite direction to cause distal translation of drive nut 350 b(thereby enabling drive member 380 b to be moved in a distal directionwhen effectively pulled in a distal direction by the opposing force ofdrive member 380 a), and vice versa.

Reference may be made to U.S. Pat. No. 8,828,023, filed on Nov. 3, 2011,entitled “Medical Workstation,” the entire content of which isincorporated herein by reference, for a detailed discussion of theconstruction and operation of medical work station 1. Additionally,reference may be made to commonly owned International Patent ApplicationNo. PCT/US14/61329, filed on Oct. 20, 2014 entitled “Wrist and JawAssemblies for Robotic Surgical Systems,” the entire contents of whichare incorporated herein by reference, for a detailed discussion ofillustrative examples of the construction and operation of end effectorsfor use with or connection to electromechanical surgical instrument 200.

Referring now to FIGS. 6-23, an end effector of electromechanicalsurgical instrument 200 for connection to robot arms 2, 3 and formanipulation by control device 4, will be described and is generallydesignated as end effector 1000. As described above, end effector 1000is disposed at a distal portion of electromechanical surgical instrument200. In one aspect, end effector 1000 may be removably coupled to thedistal portion of electromechanical surgical instrument 200 such that avariety of interchangeable end effectors may be used withelectromechanical surgical instrument 200. In another aspect, endeffector 1000 is fixed and non-removable from the distal portion of theelectromechanical surgical instrument.

End effector 1000 is composed of a wrist assembly 1100 and a medicalinstrument or surgical tool “T.” The wrist assembly 1100 is configuredto articulate such that the instrument or surgical tool “T” may bepositioned or moved by control device 4 (FIG. 1). Surgical tool “T” maybe a monopolar electrosurgical device (for example, monopolar tool 150)electrically coupled to an electrosurgical generator 10 (FIG. 1) viapower cable 118. In certain configurations, a return pad (not shown) maybe required which couples a portion of the patient table “ST” or thepatient “P” to the electrosurgical generator 10 creating a return pathto the electrosurgical generator 10.

Electrosurgical generator 10 is configured to generate electrosurgicalradio frequency energy and transmit the generated electrosurgical radiofrequency energy to monopolar tool 150 of end effector 1000 fortreatment of tissue via power cable 118. It is contemplated thatgenerators such as those sold by Covidien, a division of Medtronic, maybe used as a source of electrosurgical energy (electrosurgical generator10), e.g., Ligasure® Generator, FORCE EZ® Electrosurgical Generator,FORCE FX® Electrosurgical Generator, FORCE 1C™, FORCE 2™ Generator,SurgiStat® II, FORCETRIAD®, VALLEYLAB™ FT10 Energy Platform, and theFORCETRIAD™ Energy Platform electrosurgical generators or otherenvisioned generators which may perform different or enhanced functions.One such system is described in commonly-owned U.S. Pat. No. 6,033,399,filed on Apr. 9, 1997, entitled “ELECTROSURGICAL GENERATOR WITH ADAPTIVEPOWER CONTROL,” the entire content of which is incorporated by referenceherein. Further details regarding electrosurgical generator 10 may alsobe found in U.S. Pat. No. 7,648,499, filed on Mar. 21, 2006, entitled“SYSTEM AND METHOD FOR GENERATING RADIO FREQUENCY ENERGY,” the entirecontent of which is incorporated by reference herein.

Wrist assembly 1110 of end effector 1000 includes a proximal hub 112, inthe form of a distally extending clevis, defining a first longitudinalaxis “X1-X1.” Proximal hub 112 defines a first pivot axis “A-A” that isoriented orthogonal to the first longitudinal axis “X1-X1.” In anembodiment, first pivot axis “A-A” may extend through the firstlongitudinal axis “X1-X1.” Proximal hub 112, being in the form of aclevis, includes a pair of spaced apart, opposed upright supports 112 a,112 b, a proximal pulley pin 112 c, and a distal pulley pin 112 dthrough which first pivot axis “A-A” extends.

Briefly referring specifically to FIG. 19, in one configuration,proximal hub 112 defines channels 112 e, 112 f, 112 g, 112 h for thepassage of respective drive members 380 a, 380 b, 380 c, and power cable118 therethrough. For example, drive member 380 a may be passed throughchannel 112 h of proximal hub 112, drive member 380 b may be passedthrough channel 112 g of proximal hub 112, drive member 380 c may bepassed through channel 112 f of proximal hub 112, and power cable 118may be passed through channel 112 e of proximal hub 112.

Wrist assembly 1100 further includes a distal hub 114 pivotallyconnected to upright supports 112 a, 112 b of proximal hub 112 via thedistal pulley pin 112 d. In particular a proximal portion of the distalhub 114 is pivotally coupled to the opposed upright supports 112 a, 112b of the proximal hub 112 via the distal pulley pin 112 d. In thisregard, distal hub 114 may pivot relative to proximal hub 112 aboutfirst pivot axis “A-A.” Distal hub 114 may be in the form of a distallyextending clevis and defines a second longitudinal axis “X2-X2.” Distalhub 114 defines a second pivot axis “B-B” that is oriented orthogonal tothe second longitudinal axis “X2-X2.” In an embodiment, when the firstlongitudinal axis “X1-X1” is parallel with the second longitudinal axis“X2-X2” (e.g., electromechanical surgical instrument 200 is in anaxially aligned orientation), second pivot axis “B-B” may extend throughfirst longitudinal axis “X1-X1” and the second longitudinal axis“X2-X2.” Distal hub 114, being in the form of a clevis, includes a pairof spaced apart, opposed upright supports 114 a, 114 b, and a distal hubpin 114 c through which second pivot axis “B-B” extends.

Wrist assembly 1100 further includes a support hub 116 pivotallyconnected to upright supports 114 a, 114 b of distal hub 114 via thedistal hub pin 114 c. In particular a proximal portion of the supporthub 116 is pivotally coupled to the opposed upright supports 114 a, 114b of the distal hub 114 via the distal hub pin 114 c. Support hub 116defines a third longitudinal axis “X3-X3” and pivots about the secondpivot axis “B-B” defined by distal hub 114.

Support hub 116 is configured to be coupled to a monopolar tool 150. Inone aspect, support hub 116 includes a monopolar tool 150. In anotheraspect, support hub 116 includes an opening 116 a for selectivelycoupling the monopolar tool 150 to the support hub 116. Support hub 116may also include a grommet 117 adjacent the opening 116 a to support themonopolar tool 150 therein. Power cable 118 passes through support hub116 to electrically couple the monopolar tool 150 to the electrosurgicalgenerator 10 (FIG. 1).

Support hub 116 may additionally function as a protective heat shield tothermally separate the monopolar tool 150 from the remaining componentsof the end effector 1000. To this end, distal hub 114 and othercomponents of the end effector 1000 are protected from thermal damageduring activation and use of monopolar tool 150. In one aspect, supporthub 116 may be formed of a non-conducting, high temperature material(for example, ceramic) to separate the monopolar tool 150 from othercomponents of the end effector 1000 (such as distal hub 114 and/orproximal hub 112). Such a configuration displaces the arc point adistance away from the proximate components of the end effector 1000,limiting the amount of potential thermal damage during use or dischargeof the monopolar tool 150.

Grommet 117 may additionally function as a protective heat shield tothermally separate the monopolar tool 150 from the remaining componentsof the end effector 1000. To this end, support hub 116 and othercomponents of the end effector 1000 are protected from thermal damageduring activation and use of monopolar tool 150. In one aspect, grommet117 may be formed of a non-conducting, high temperature material (forexample, ceramic) to separate the monopolar tool 150 from othercomponents of the end effector 1000 (such as support hub 116, distal hub114, and/or proximal hub 112). Such a configuration displaces the arcpoint a distance away from the proximate components of the end effector1000, limiting the amount of potential thermal damage during use ordischarge of the monopolar tool 150.

Monopolar tool 150 may be a powered electrode or a non-poweredinstrument. In certain embodiments, monopolar tool 150 is in the form ofa blade having at least one sharpened edge. Alternatively, monopolartool 150 may have rounded edges and a rounded distal tip to assist infacilitating atraumatic movement of tissue.

In a configuration where monopolar tool 150 is an electrode, monopolartool 150 may be used to coagulate, cut, and/or seal tissue. Themonopolar tool 150 electrode is an electrically conducting element whichmay be elongated and may be in the form of a thin flat blade with apointed or rounded distal end. Alternatively, the electrode may includean elongated narrow cylindrical needle which is solid or hollow with aflat, rounded, pointed or slanted distal end. Monopolar tool 150 may beconfigured to transmit radio frequency energy generated by theelectrosurgical generator 10 (FIG. 1).

Continuing with reference to FIGS. 6-23, wrist assembly 1100 of endeffector 1000 includes pulley system 400. Pulley system 400 includespulleys 411, 413, 415, 417, 419, 421, 423 disposed between uprightsupports 112 a, 112 b of proximal hub 112. In particular, in anassembled configuration, pulleys 411, 413, 415, 417 are coupled toupright supports 112 a, 112 b of proximal hub 112 via proximal pulleypin 112 c such that pulleys 411, 413, 415, 417 may spin about proximalpulley pin 112 c. In one configuration, pulleys 411, 413 are disposed onone side of a proximal portion of distal hub 114 and pulleys 415, 417are disposed on the other side of the proximal portion of distal hub114. Additionally, pulleys 419, 421, 423 are coupled to upright supports112 a, 112 b of proximal hub 112 via distal pulley pin 112 d such thatpulleys 419, 421, 423 may spin about distal pulley pin 112 d. In oneconfiguration, pulleys 419, 421 are disposed on one side of a proximalportion of distal hub 114 and pulley 423 is disposed on the other sideof the proximal portion of distal hub 114.

Power cable 118, which electrically couples the monopolar tool 150 tothe electrosurgical generator 10 (FIG. 1), extends through channel 112 eof proximal hub 112, around a portion of pulley 413, around a portion ofpulley 421, and through the support hub 116 to electrically couple tothe monopolar tool 150. In one aspect, a distal portion of power cable118 is permanently coupled to the monopolar tool 150. For example,monopolar tool 150 may have a hole drilled into its proximal end and adistal end of the power cable 118 may be inserted into the hole andpermanently coupled to the monopolar tool 150. Such a permanent couplingmay be achieved by, for example, laser welding. This connection betweenthe power cable 118 and the monopolar tool 150 may be achieved prior toassembly of the support hub 116. To this end, power cable 118 may be fedproximally into the support hub 116 through opening 116 a and throughthe remaining components of end effector 1000.

Alternatively, in an interchangeable configuration, power cable 118 maybe removably coupled to the monopolar tool 150 such that differentmonopolar tools 150 may be used interchangeably. For example, a distalportion of the power cable 118 may include a coupling structureconfigured to correspondingly mate with a proximal portion of themonopolar tool 150, thereby enabling selective coupling and removal ofinterchangeable monopolar tools 150.

A proximal portion of the power cable 118 includes a connector (notshown) for connecting the power cable 118 to generator 10. The connectormay include identification elements (e.g., RFID tag, bar code, orread-only or read/write memory chips) which may be read by generator 10to provide identification information of the type of monopolar tool 150and/or the usage details of the monopolar tool 150.

In order to prevent mechanical stress imparted on the power cable 118and to manage the position of the power cable 118 within the componentsof the end effector 1000 during movement and articulation of the endeffector 1000, power cable 118 may include slack. The slack of the powercable 118 may be managed passively, for example, via a service loop usedin combination with a return spring.

Drive member 380 c extends from a proximal portion of theelectromechanical surgical instrument 200 to the end effector 1000. Asdescribed above, a proximal end 380 cp (FIG. 4) of drive member 380 c isoperably coupled to drive nut 350 c. Drive member 380 c extends throughchannel 112 f of proximal hub 112, around a portion of pulley 415 andaround a protruding surface 114 g (FIG. 14) of distal hub 114.Protruding surface 114 g is axially aligned with pulleys 419, 421, 423and distal pulley pin 112 d. A distal end 380 cd of drive member 380 cis coupled to a portion of the distal hub 114 such that proximalmovement of the drive member 380 c causes corresponding rotation of thedistal hub 114 about axis “A-A.” Distal end 380 cd of drive member 380 cis coupled to distal hub 114 at a point which is distal to the distalpulley pin 112 d to enable rotation of distal hub 114 about axis “A-A.”In one configuration, distal end 380 cd of drive member 380 c passesthrough an aperture formed in distal hub 114. Distal end 380 cd of drivemember 380 c may be coupled to distal hub 114 via adhesive, glue,welding, snap-fitting or any other accepted means.

With reference to FIGS. 11, 17, and 18, drive members 380 a and 380 bwill now be discussed. Drive member 380 a and drive member 380 b extendfrom a proximal portion of the electromechanical surgical instrument 200to the end effector 1000. As described above, a proximal end 380 ap(FIG. 4) of drive member 380 a is operably coupled to drive nut 350 aand a proximal end 380 bp of drive member 380 b if operably coupled todrive nut 350 b. A distal end 380 ad of drive member 380 a connects to adistal end 380 bd of drive member 380 b via an engagement member 383.

Drive member 380 a extends through channel 112 h of proximal hub 112,around a portion of pulley 417, around a portion of pulley 423 andaround a first side of protruding surface 116 g of support hub 116 (FIG.12). Meanwhile, drive member 380 b extends through channel 112 g ofproximal hub 112, around a portion of pulley 411, around a portion ofpulley 419 and around a second side of protruding surface 116 g ofsupport hub 116 (FIG. 12). The distal ends 380 ad, 380 bd of respectivedrive members 380 a, 380 b are coupled to a portion of support hub 116via engagement member 383. In one configuration, engagement member 383is fixed to a notch 116 n of support hub 116 such that movement of drivemember 380 a and/or drive member 380 b causes corresponding movement ofsupport hub 116.

Although drive member 380 a and drive member 380 b are illustrated anddescribed as two separate drive members, drive member 380 a may be afirst half or side of a unitary drive member and drive member 380 b maybe a second half or side of the same unitary drive member. That is, inone configuration, drive members 380 a and 380 b form a single cablethat is at least partially wrapped around protruding surface 116 g ofsupport hub 116 and secured to at least a point thereof, or a singlecable which may be wrapped at least once around protruding surface 116 gor any portion of support hub 116 in the manner of a capstan. In aconfiguration where drive member 380 a and drive member 380 b are twosides of a single unitary cable, the single unitary cable extendsdistally through channel 112 g of proximal hub 112, around a portion ofpulley 411, around a portion of pulley 419, around a portion ofprotruding surface 116 g of support hub 116 and proximally around aportion of pulley 423, around a portion of pulley 417, and throughchannel 112 h of proximal hub 112. A proximal end of the single unitarycable is operably coupled to drive nut 350 a (FIG. 5) and a distal endof the single unitary cable is operably coupled to drive nut 350 b (FIG.5). In addition to wrapping around protruding surface 116 g, the singleunitary cable is coupled to support hub 116 at a midpoint of the singleunitary cable via engagement member 383 such that movement of either oneor both sides of the single unitary cable causes corresponding movementof support hub 116.

In operation, as illustrated in FIGS. 19-23, end effector 1000 ofelectromechanical surgical instrument 200 is pivoted about a first pivotaxis “A-A” (FIG. 19) and/or a second pivot axis “B-B” (FIGS. 21-23) ofwrist assembly 1100, via movement of some or all of drive members 380 a,380 b, 380 c in a proximal or distal direction. Briefly referring backto FIGS. 2 and 3, each of drive members 380 a, 380 b, 380 c is pulledproximally or advanced distally via activation of a respective motor 52a, 52 b, 52 c. For example, actuation of motor 52 a causes correspondingrotation of drive screw 340 a and rotation of drive screw 340 a causescorresponding longitudinal movement or translation of drive nut 350 aalong a longitudinal axis defined by drive screw 340 a. As proximal end380 ap of drive member 380 a is coupled to drive screw 350 a,longitudinal movement of drive screw 350 a causes correspondinglongitudinal movement of drive member 380 a. Additionally, for example,coordinated actuation of motor 52 b causes corresponding rotation ofdrive screw 340 b and rotation of drive screw 340 b causes correspondinglongitudinal movement or translation of drive nut 350 b along alongitudinal axis defined by drive screw 340 b. As proximal end 380 bpof drive member 380 b is coupled to drive screw 350 b, longitudinalmovement of drive screw 350 b causes corresponding longitudinal movementof drive member 380 b. Additionally, for example, coordinated actuationof motor 52 c causes corresponding rotation of drive screw 340 c androtation of drive screw 340 c causes corresponding longitudinal movementor translation of drive nut 350 c along a longitudinal axis defined bydrive screw 340 c. As proximal end 380 cp of drive member 380 c iscoupled to drive screw 350 c, longitudinal movement of drive screw 350 ccauses corresponding longitudinal movement of drive member 380 c.

In operation, as illustrated in FIGS. 19-23, in order to pivot endeffector 1000 of electromechanical surgical instrument 200 about firstpivot axis “A-A” of wrist assembly 1100 in the direction of arrow “A1,”it is contemplated that the proximal end 380 ap of drive member 380 aand the proximal end 380 bp of drive member 380 b are drawn in aproximal direction as a result of an input from control device 4 toactivate both of motor 52 a and motor 52 b (FIG. 2B) in the samerotational direction. Simultaneous or coordinated activation of motor 52a, to which proximal end 380 ap is operably coupled via drive assembly300 a, and motor 52 b, to which proximal end 380 bp is operably coupledvia drive assembly 300 b, in the same direction causes proximal movementof both of drive member 380 a and drive member 380 b thereby causingboth of the distal hub 114 and the support hub 116 to articulate aboutaxis “A-A” in the direction of arrow “A1.” In addition to drawing bothof drive member 380 a and drive member 380 b proximally via simultaneousactivation of motor 52 a and 52 b in the same rotational direction,drive member 380 c is advanced distally via coordinated activation ofmotor 52 c, to which proximal end 380 cp of drive member 380 c isoperably coupled via drive assembly 300 c.

Referring specifically to FIG. 21, in order to pivot end effector 1000of electromechanical surgical instrument 200 about first pivot axis“A-A” of wrist assembly 1100 in the direction of arrow “A2,” which isopposite the direction of arrow “A1,” it is contemplated that theproximal end 380 cp of drive member 380 c is drawn in a proximaldirection as a result of an input from control device 4 to activatemotor 52 c, to drive member 380 c is connected via drive assembly 300 c.In addition to drawing drive member 380 c proximally via coordinatedactivation of motor 52 c, both drive member 380 a and 380 b are advanceddistally via simultaneous coordinated activation of motor 52 a, to whichdrive member 380 a is coupled via drive assembly 300 a, and motor 52 b,to which drive member 380 b is coupled via drive assembly 300 c, in thesame direction.

Additionally, in operation, as illustrated in FIGS. 22 and 22, in orderto pivot support hub 116 of end effector 1000 about second pivot axis“B-B” of wrist assembly 1100, it is contemplated that one of drivemember 380 a and drive member 380 b are drawn in opposite directions asa result of an input from control device 4 to activate a motor 52 a inone direction and activate motor 52 b in opposite directions. That is,in order to pivot support hub 116 about pivot axis “B-B” in thedirection of arrow “B1,” (FIG. 22) drive member 380 a is pulledproximally via activation of motor 52 a, while drive member 380 b isadvanced distally via simultaneous coordinated activation of motor 52 bin the opposite direction. Additionally, in order to pivot support hub116 about pivot axis “B-B” in the direction of arrow “B2,” (FIG. 23)drive member 380 a is advanced distally via activation of a motor 52 awhile drive member 380 b is pulled proximally via simultaneouscoordinated activation of motor 52 b in the opposite direction.

It will be understood that various modifications may be made to theembodiments disclosed herein. For example, while the cables disclosedherein have been shown and described as being connected to specificportions of the distal hub and support hub, it is contemplated andwithin the scope of the present disclosure, for the cables to beoperatively connected to any portion of the hubs or supports. Therefore,the above description should not be construed as limiting, but merely asexemplifications of various embodiments. Those skilled in the art willenvision other modifications within the scope and spirit of the claimsappended thereto.

1-20. (canceled)
 21. An end effector for use with a robotic system, theend effector comprising: a proximal hub defining a first pivot axis; adistal hub pivotally coupled to the proximal hub about the first pivotaxis, the distal hub defining a second pivot axis transverse to thefirst pivot axis; a support hub pivotally coupled to the distal hubabout the second pivot axis, the support hub including anelectrosurgical tool; a first drive member and a second drive memberoperably coupled to the support hub; and a third drive member operablycoupled to the distal hub, wherein: simultaneous proximal translation ofthe first drive member and the second drive member causes the distal hubto pivot about the first pivot axis; and proximal translation of onlyone of the first drive member or the second drive member causes thesupport hub to pivot about the second pivot axis.
 22. The end effectoraccording to claim 21, wherein: simultaneous proximal translation of thefirst drive member and the second drive member causes the distal hub topivot about the first pivot axis in a first direction; and proximaltranslation of the third drive member causes the distal hub to pivotabout the first pivot axis in a second direction opposite the firstdirection.
 23. The end effector according to claim 21, wherein: proximaltranslation of the first drive member and distal translation of thesecond drive member cause the support hub to pivot about the secondpivot axis in a first direction; and distal translation of the firstdrive member and proximal translation of the second drive member causethe support hub to pivot about the second pivot axis in a seconddirection opposite the first direction.
 24. The end effector accordingto claim 21, further comprising a power cable electrically coupled tothe electrosurgical tool and configured to electrically couple theelectrosurgical tool to an electrosurgical generator.
 25. The endeffector according to claim 21, further comprising a first pulley, asecond pulley, a third pulley, and a fourth pulley, each of the firstpulley, second pulley, third pulley, and fourth pulley operably coupledto the proximal hub via a proximal pulley pin and rotatable along thefirst pivot axis, wherein the first drive member wraps around at least aportion of the first pulley, the second drive member wraps around atleast a portion of the second pulley, and the third drive member wrapsaround at least a portion of the third pulley.
 26. The end effectoraccording to claim 25, further comprising a fifth pulley, a sixthpulley, and a seventh pulley, each of the fifth pulley, the sixthpulley, and the seventh pulley operably coupled to the proximal hub viaa distal pulley pin, wherein the first drive member wraps around atleast a portion of the fifth pulley, and the second drive member wrapsaround at least a portion of the sixth pulley.
 27. An electromechanicalsurgical instrument for use with a robotic system, the electromechanicalsurgical instrument comprising: a drive assembly; and an end effectoroperably coupled to the drive assembly, the end effector comprising: aproximal hub defining a first pivot axis; a distal hub pivotally coupledto the proximal hub about the first pivot axis, the distal hub defininga second pivot axis transverse to the first pivot axis; a support hubpivotally coupled to the distal hub about the second pivot axis andincluding an electrosurgical tool; a first drive member, wherein adistal portion of the first drive member is coupled to the support hub;a second drive member, wherein a distal portion of the second drivemember is coupled to the support hub; and a third drive member, whereina distal portion of the third drive member is coupled to the distal hub.28. The electromechanical surgical instrument according to claim 27,wherein: simultaneous proximal translation of the first drive member andthe second drive member causes the distal hub to pivot about the firstpivot axis; and proximal translation of only one of the first drivemember or the second drive member causes the support hub to pivot aboutthe second pivot axis.
 29. The electromechanical surgical instrumentaccording to claim 27, wherein: simultaneous proximal translation of thefirst drive member and the second drive member causes the distal hub topivot about the first pivot axis in a first direction; and proximaltranslation of the third drive member causes the distal hub to pivotabout the first pivot axis in a second direction opposite the firstdirection.
 30. The electromechanical surgical instrument according toclaim 27, wherein: proximal translation of the first drive member anddistal translation of the second drive member cause the support hub topivot about the second pivot axis in a first direction; and distaltranslation of the first drive member and proximal translation of thesecond drive member cause the support hub to pivot about the secondpivot axis in a second direction opposite the first direction.
 31. Theelectromechanical surgical instrument according to claim 27, furthercomprising a power cable electrically coupled to the electrosurgicaltool and configured to electrically couple the electrosurgical tool toan electrosurgical generator.
 32. The electromechanical surgicalinstrument according to claim 27, further comprising a first pulley, asecond pulley, a third pulley, and a fourth pulley, each of the firstpulley, second pulley, third pulley, and fourth pulley operably coupledto the proximal hub via a proximal pulley pin and rotatable along thefirst pivot axis, wherein the first drive member wraps around at least aportion of the first pulley, the second drive member wraps around atleast a portion of the second pulley, and the third drive member wrapsaround at least a portion of the third pulley.
 33. The electromechanicalsurgical instrument according to claim 27, further comprising: a fifthpulley, a sixth pulley, and a seventh pulley, each of the fifth pulley,the sixth pulley, and the seventh pulley operably coupled to theproximal hub via a distal pulley pin, wherein the first drive memberwraps around at least a portion of the fifth pulley, and the seconddrive member wraps around at least a portion of the sixth pulley.
 34. Arobotic electrosurgical system comprising: an electrosurgical generatorconfigured to generate electrosurgical energy; and an electromechanicalsurgical instrument having an electrosurgical tool configured to coupleto the electrosurgical generator and transmit the generatedelectrosurgical energy, the electromechanical surgical instrumentcomprising: a proximal hub defining a first pivot axis; a distal hubpivotally coupled to the proximal hub about the first pivot axis, thedistal hub defining a second pivot axis transverse to the first pivotaxis; a support hub pivotally coupled to the distal hub about the secondpivot axis and including the electrosurgical tool; a first drive member,wherein a distal portion of the first drive member is coupled to thesupport hub; a second drive member, wherein a distal portion of thesecond drive member is coupled to the support hub; and a third drivemember, wherein a distal portion of the third drive member is coupled tothe distal hub.
 35. The robotic electrosurgical system according toclaim 34, further comprising: a first motor configured to actuate thefirst drive member; a second motor configured to actuate the seconddrive member; a third motor configured to actuate the third drivemember; and a control device configured to control actuation of at leastone of the first motor, the second motor, or the third motor.
 36. Therobotic electrosurgical system according to claim 35, wherein thecontrol device is configured to coordinate control of the first motorwith control of the second motor by actuating the first motor in a firstdirection when actuating the second motor in a second direction oppositethe first direction.
 37. The robotic electrosurgical system according toclaim 35, wherein the control device is configured to coordinate controlof the first motor and the second motor with control of the third motorby actuating the first motor and the second motor in a first directionwhen actuating the third motor in a second direction opposite the firstdirection.
 38. The robotic electrosurgical system according to claim 34,wherein: simultaneous proximal translation of the first drive member andthe second drive member causes the distal hub to pivot about the firstpivot axis; and proximal translation of only one of the first drivemember or the second drive member causes the support hub to pivot aboutthe second pivot axis.
 39. The robotic electrosurgical system accordingto claim 34, wherein: simultaneous proximal translation of the firstdrive member and the second drive member causes the distal hub to pivotabout the first pivot axis in a first direction; and proximaltranslation of the third drive member causes the distal hub to pivotabout the first pivot axis in a second direction opposite the firstdirection.
 40. The robotic electrosurgical system according to claim 34,further comprising: a power cable electrically coupling theelectrosurgical tool to the electrosurgical generator.